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A review of various calibration techniques of MEMS inertial sensors is presented in this paper. MEMS inertial sensors are subject to various sources of error, so it is essential to correct these errors through calibration techniques to improve the accuracy and reliability of these sensors. In this paper, we first briefly describe the main characteristics of MEMS inertial sensors and then discuss some common error sources and the establishment of error models. A systematic review of calibration methods for inertial sensors, including gyroscopes and accelerometers, is conducted. We summarize the calibration schemes into two general categories: autonomous and nonautonomous calibration. A comprehensive overview of the latest progress made in MEMS inertial sensor calibration technology is presented, and the current state of the art and development prospects of MEMS inertial sensor calibration are analyzed with the aim of providing a reference for the future development of calibration technology.

We study dynamic multiprocessor allocation policies for parallel jobs, which allow the preemption and reallocation of processors to take place at any time. The objective is to minimize the completion time of the last job to finish executing (the makespan). We characterize a parallel job using two parameter. The job's parallelism, Pi, which is the number of tasks being executed in parallel by a job, and its execution time, li, when Pi processors are allocated to the job. The only information available to the scheduler is the parallelism of jobs. The job execution time is not known to the scheduler until the job's execution is completed. We apply the approach of competitive analysis to compare preemptive scheduling policies, and are interested in determining which policy achieves the best competitive ratio (i.e., is within the smallest constant factor of optimal). We devise an optimal competitive scheduling policy for scheduling two parallel jobs on P processors. Then, we apply the method to schedule N parallel jobs on P processors. Finally we extend our work to incorporate jobs for which the number of parallel tasks changes during execution (i.e., jobs with multiple phases of parallelism).

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